CN102596674B

CN102596674B - Vehicle motion control system

Info

Publication number: CN102596674B
Application number: CN200980162293.0A
Authority: CN
Inventors: 大沼丰; 鹤见泰昭
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2009-10-30
Filing date: 2009-10-30
Publication date: 2014-03-26
Anticipated expiration: 2029-10-30
Also published as: DE112009005329B4; CN102596674A; WO2011052076A1; DE112009005329T5; US8798869B2; JPWO2011052076A1; JP5007775B2; US20120185136A1

Abstract

A system for controlling the movements of a vehicle that has a single front wheel disposed at the front side and left and right wheels disposed rearward of the front wheel and to the left and right causes the vehicle to move in a manner that reduces the possibility of the vehicle toppling when the vehicle body acceleration (G*) comes within a high toppling-possibility range which is defined as the range at which the possibility of the vehicle toppling is high and which has a threshold value with a magnitude that varies depending on the direction of the vehicle body acceleration, said vehicle body acceleration (G*) being the result of combining the acceleration (Gx) in the front-rear direction and the acceleration (Gy) in the vehicle-width direction that are generated upon the vehicle body. Specifically, the vehicle movement control system determines a target vehicle body acceleration (G') that falls outside the high toppling-possibility range, controls the amount of steering to be applied to the wheel-to-be-steered on the basis of the vehicle-width direction component (Gy') of the determined target vehicle body acceleration, and controls the braking force to be applied to the vehicle on the basis of the front-rear direction component (Gx') of the target vehicle body acceleration, thus limiting the amount of steering to be applied to the wheel-to-be-steered and the braking force to be applied to the vehicle such that the vehicle body acceleration falls outside the high toppling-possibility range.

Description

Vehicle motion control system

Technical field

The present invention relates to have and be configured in the single front-wheel of vehicle self front side and revolver and the right vehicle of taking turns that is configured in respectively vehicle self left and right at the rear side of this front-wheel, particularly for controlling the system of the motion of this vehicle.

Background technology

In recent years, that for example in following patent documentation 1, records is such, has studied and has had the single front-wheel of the front side that is configured in vehicle self and revolver and the right vehicle of taking turns that is configured in respectively the left and right of vehicle self at the rear side of this front-wheel.In addition, as recorded in following patent documentation 2, studied except front-wheel and left and right wheels, also at the rear side of vehicle self, configured the vehicle of single wheel, i.e. four wheels vehicles of configuration that assume diamond in shape.

Technical literature formerly

Patent documentation

Patent documentation 1: Japanese documentation JP 2006-130985 communique;

Patent documentation 2: Chinese Granted publication CN1304237C;

Patent documentation 3: Japanese documentation JP 2004-66940 communique.

Summary of the invention

Invent problem to be solved

Four wheels are configured in the general vehicle at four angles as long as consider the overturning of overall width direction.Therefore, at such wheel, be configured in the vehicle at four angles, in order to prevent the overturning of vehicle, for example, in above-mentioned patent documentation 3, recorded and controlled the braking force of each wheel so that the transverse acceleration of vehicle is no more than the technology of limits value.On the other hand, the easiest oblique the place ahead overturning to vehicle of vehicle of being recorded as above-mentioned patent documentation 1,2.The present invention completes in view of such actual conditions, take and provide a kind of vehicle motion control system as problem, described vehicle control system is mounted on the revolver and right vehicle of taking turns of the left and right that has the single front-wheel of the front side that is configured in vehicle self and be configured in respectively vehicle self at the rear side of this front-wheel, and the motion of vehicle is controlled, particularly provide and can prevent that vehicle is to the vehicle motion control system of the overturning in oblique the place ahead.

For the means of dealing with problems

Vehicle motion control system of the present invention is characterized in that, described vehicle motion control system is mounted on vehicle, described vehicle has the single front-wheel of the front side that is configured in vehicle self and at the rear side of this front-wheel, is configured in respectively revolver and right wheel of the left and right of vehicle self, when in the situation that the acceleration/accel of the acceleration/accel of the fore-and-aft direction producing in vehicle body and the overall width direction vehicle body acceleration after synthetic enters into is confirmed as the scope that the possibility of vehicle generation overturning is high and has the high overturning range of possibility with the threshold value towards corresponding setting of this vehicle body acceleration, make vehicle movement to reduce the possibility of vehicle generation overturning.

The effect of invention

Have configuration vehicle self front side single front-wheel and at the rear side of this front-wheel, be configured in respectively in the revolver and right vehicle of taking turns of left and right of vehicle self, make vehicle reach overturning power size according to this power towards and different.Vehicle according to the invention kinetic control system, in the situation that vehicle body acceleration enters into the high overturning range of possibility towards the threshold value of setting having according to separately, control the motion of vehicle to reduce the possibility of vehicle generation overturning, even therefore for the power that acts on any direction of vehicle body, can prevent the overturning of vehicle.

The mode of invention

Below, in this application, to being believed to the mode of several inventions (following, to be sometimes referred to as " can ask invention ") of request invention, carry out illustration, and they are described.Each mode and claim similarly, are distinguished by item, to every mark numbering, and to quote the mode of other numbering, record as required.This at least for easily to asking invention to be understood, and do not mean that the combination that forms the inscape of those inventions be limited to the mode that the following is recorded.; can ask invention to make an explanation with reference to the record of every subsidiary record, embodiment etc.; in the limit of this explanation, to every mode also added the mode of other inscape, the mode of deleting in addition some inscape from every mode also can become a mode can asking invention.

In addition, following every in, (1) item is equivalent to claim 1, (8) item is equivalent to claim 2, (6) item and (7) item are combined and are equivalent to claim 3, (11) be equivalent to claim 4 to each of claim 6 to each of (13), (14) item and (15) item are combined and are equivalent to claim 7, (16) item is equivalent to claim 8, (21) and (22) item be equivalent to respectively claim 9 and claim 10, each of (31) to (35) is equivalent to claim 11 to each of claim 15.

(1) a kind of vehicle motion control system, described vehicle motion control system is mounted on vehicle and controls the motion of this vehicle, described vehicle has a plurality of wheels, described a plurality of wheel comprises the single front-wheel of the front side that is configured in vehicle self and revolver and right wheel that is configured in respectively the left and right of vehicle self at the rear side of this front-wheel, described vehicle motion control system is characterised in that

To in the situation that the synthetic vehicle body acceleration forming of the acceleration/accel of the acceleration/accel of the fore-and-aft direction producing in vehicle body and overall width direction enters into high overturning range of possibility, can carry out overturning prevents from controlling, the scope that possibility that wherein said high overturning range of possibility is confirmed as vehicle generation overturning is high and have according to this vehicle body acceleration towards the threshold value of setting, it is in order to reduce the possibility of vehicle generation overturning, to make the control of vehicle movement that described overturning prevents from controlling.

The vehicle motion control system of recording in this carries and is configured on the vehicle of triangle at three wheels.In addition it is the vehicle of three that the vehicle that, carries this vehicle motion control system is not limited to wheel.For example, as described in detail below, can be also have the left and right wheels of being configured in rear view of vehicle trailing wheel, wheel is configured to the vehicle of so-called rhombus.Such vehicle is because the place ahead at vehicle only configures single wheel in the central authorities of overall width direction, therefore from the center-of-gravity position of vehicle to the distance and the distance from this center-of-gravity position to link front-wheel and right straight line of taking turns that link the straight line of front-wheel and revolver, be shorter than the distance of the overall width direction from center-of-gravity position to left and right wheels, vehicle is easily to the overturning of oblique the place ahead.Specifically, for example, in braking and turn condition in the situation that, certainly on vehicle body, act on the power to oblique the place ahead, because overturning likely occurs this power vehicle.In addition, should " braking and turn condition (below; sometimes referred to as " christiania ") " be not limited to chaufeur and except carrying out steering operation, also carry out the state of brake operating, also represent following state: resistance, the so-called engine producing due to the friction because of between road surface and tire braked and the rotational resistance of drive motor etc., carry out the state of steering operation, under to some the state of braking force of wheel effect, kept the state of current vehicle to reduce the state of the speed of a motor vehicle.

In addition, in vehicle as above, make vehicle reach overturning power size according to this power towards and different.The vehicle motion control system of recording in this is constituted as: when in the situation that the acceleration/accel producing on vehicle body enters into has and its high overturning range of possibility towards threshold value corresponding, that set in the mode for example varying in size, control the motion of vehicle, to reduce the possibility of vehicle generation overturning.That is, the system according to recording in this, even for the power that acts on any direction of vehicle body, can both prevent the overturning of vehicle.In addition,, in the system of this record, judge whether the possibility of vehicle generation overturning uprises the acceleration/accel that uses " vehicle body acceleration " to produce at vehicle body when watching above vehicle in brief.In addition, the component of the fore-and-aft direction of this vehicle body acceleration is mainly that the braking force because being applied on vehicle produces, and the component of overall width direction can think it is mainly that turning because of vehicle produces.

" overturning prevents from controlling " of carrying out in the system of this record, this control gimmick is not specially limited.As described in detail, can adopt various devices that the vehicle of the system of control carrying this has etc. to reduce the various controls of the possibility of vehicle generation overturning below.

(2) vehicle motion control system of recording as (1), described front-wheel is set as wheel flutter.

(3) as (1) or (2) vehicle motion control system of recording, described revolver and right take turns each be set as drive wheel, can drive independently of one another.

The mode that above-mentioned two items are recorded is the mode of formation that defines the vehicle of equipped vehicle kinetic control system.In addition " wheel flutter " recorded in the former mode, represents that the steering operation carrying out according to chaufeur changes the wheel of steering volume.

(4) as the vehicle motion control system that in (1) to (3), any one is recorded, the vehicle that carries this vehicle motion control system also has the single trailing wheel that is configured in described revolver and right rear side of taking turns.

(5) as (4) vehicle motion control system of recording, described trailing wheel is set as wheel flutter.

The mode of recording in above-mentioned two items is that the vehicle of equipped vehicle kinetic control system is defined as to the mode that four wheels are configured to the vehicle of diamond shape.The latter's mode is in front-wheel, revolver and right wheel, to be set as the mode that trailing wheel the wheel of wheel flutter is also set as wheel flutter.In the latter's mode, be for example configured to make trailing wheel to front-wheel anti-phase turn to, thereby realize the dolly of minimum radius of rotation.

(6) as the vehicle motion control system that in (1) to (5), any one is recorded, wherein,

This vehicle comprises with kinetic control system:

Overturning possibility detection unit, described overturning possibility detection unit judges whether described vehicle body acceleration enters into described high overturning range of possibility; And

Overturning prevents from controlling enforcement division, and in the situation that being judged to be described vehicle body acceleration by this overturning possibility detection unit and entering into described high overturning range of possibility, described overturning prevents from controlling enforcement division and carries out described overturning and prevent from controlling.

In the mode of this record, being used in and judging that " vehicle body acceleration " that whether the possibility of vehicle generation overturning uprises can be by the actual detected value of sensor, can be also the value estimating according to the operational ton of the operational ton of the steering operation of chaufeur and brake operating etc. as described in detail below.

(7) as (6) vehicle motion control system of recording, wherein,

Described overturning possibility detection unit is constituted as: based on steering operation and brake operating, estimate the described vehicle body acceleration producing on vehicle body, and judge whether this estimative vehicle body acceleration enters into described high overturning range of possibility.

When in the situation that be assumed to complete turning to of wheel flutter and produced by common control the vehicle body acceleration that braking force produces for the brake operating of chaufeur by common control for the steering operation of chaufeur and enter into high overturning range of possibility, when carrying out the common control of those wheel flutters and the common control of braking force, the possibility that is considered to vehicle generation overturning uprises.The mode of this, by utilizing the vehicle body acceleration estimating as mentioned above, can be carried out overturning and prevent from controlling before the possibility of vehicle generation overturning uprises.That is, according to the system of this record, can avoid the possibility of vehicle generation overturning to uprise, can prevent more reliably the overturning of vehicle.

(8) as (1) vehicle motion control system to (7) any one record, it is to make vehicle movement so that described vehicle body acceleration becomes the control outside described high overturning range of possibility that described overturning prevents from controlling.

According to the mode of this record, owing to vehicle body acceleration can being made as outside high overturning range of possibility, therefore can reduce reliably the possibility of vehicle generation overturning, and can prevent the overturning of vehicle.In addition, this control method is not particularly limited, and as described in detail below, can adopt and control to make vehicle body acceleration to become the various controls outside high overturning range of possibility to carrying various devices that the vehicle of this system has etc.

(11) as the vehicle motion control system that in (1) to (8), any one is recorded,

Described overturning prevents from controlling and comprises that amount of exercise restriction controls, and described amount of exercise restriction is controlled the steering volume of the more than one wheel that is set as wheel flutter in described a plurality of wheels and offered at least one in the braking force of vehicle and limits.

The mode of this record is to make overturning prevent a mode of control specializing, and is by the steering volume of wheel flutter and any one or the two that offer the braking force of vehicle limits to make the mode of the possibility reduction of vehicle generation overturning." amount of exercise restriction control " of this record can be made as at least one in for example steering volume and braking force is restricted to according to the state of vehicle and the control of definite value.In addition, by the control to wheel flutter and braking force under the low Zhuan of the possibility Condition in vehicle generation overturning, in the situation that at least one in steering volume and braking force surpasses limits value, by amount of exercise, limit to control at least one in them limited, can make thus at least one minimizing in this steering volume and braking force.

(12) as (11) vehicle motion control system of recording, wherein,

The restriction of described amount of exercise is controlled and is set as that the two limits to described steering volume and described braking force, and

The restriction of described amount of exercise is controlled in the situation that the moving velocity of vehicle is low, compare with the situation that the moving velocity of vehicle is high, described in increase, turn to quantitative limitation and reduce the restriction of described braking force, in the situation that the moving velocity of vehicle is high, compare the restriction that turns to quantitative limitation described in reducing and increase described braking force with the situation that the moving velocity of vehicle is low.

For example consider to avoid to be present in the situation of the obstacle of vehicle front.In this case, exist steering operation and brake operating than very fast and the large situation of this operation quantitative change, the possibility of vehicle generation overturning easily uprises.Under these circumstances, moving velocity at vehicle is (following, sometimes referred to as " speed of a motor vehicle ") in high situation, think by make car brakeing by steering operation change vehicle towards being actv., on the contrary, in the situation that the speed of a motor vehicle is low, think that what by steering operation, change vehicle is actv. towards making thus car brakeing.According to the mode of this record, even as mentioned above in the situation of avoiding obstacles, the obstacle that also can give full play to this vehicle is avoided performance and is prevented the overturning of vehicle.

In addition, this mode can be made as following mode: in the situation that for example the speed of a motor vehicle to take certain value be high situation and low as threshold value, can change described in making, turn to quantitative limitation and braking force which limits is preferential.In addition, also can be made as following mode: for example the moving velocity of vehicle is lower, described in more increasing, turn to quantitative limitation and reduce the restriction of described braking force, the moving velocity of vehicle becomes higher, the restriction that turns to quantitative limitation described in more reducing and increase described braking force.In addition, in this latter's mode, can be the mode of the limit amount of steering volume and the limit amount of braking force that periodically changes according to the moving velocity of vehicle, can be the mode changing continuously.

(13) as (11) item or (12) vehicle motion control system of recording,

The speed that described amount of exercise restriction is controlled at brake operating is with respect in the large situation of the ratio of the speed of steering operation, with this than little situation comparison, dwindle the restriction of described braking force and increase described in turn to quantitative limitation, in the situation that the speed of brake operating is little with respect to the ratio of the speed of steering operation, with this than large situation comparison, increase the restriction of described braking force and reduce described in turn to quantitative limitation.

The mode of this record is the speed of speed based on steering operation and brake operating and determine the some preferential modes of restriction that make to turn to quantitative limitation and braking force.According to this mode, owing to chaufeur in steering operation and brake operating being thought to the control of the operation paid attention to is preferential, therefore can reduce the human discomfort that gives chaufeur the overturning that prevents vehicle.

In addition, the mode of this can be made as following mode: the ratio in the speed of for example brake operating and the speed of steering operation is (following, be sometimes referred to as " operating speed ratio ") in the situation that be made as situation that threshold value is large and little with certain value, change and described in making, turn to the restriction of quantitative limitation and braking force some preferential.In addition, can be also following mode: for example operating speed ratio becomes larger, more reduce the restriction of described braking force and increase described in turn to quantitative limitation, operating speed ratio becomes less, more increase the restriction of described braking force and reduce described in turn to quantitative limitation.In addition, in this latter's mode, can be than periodically, to change the mode of the limit amount of steering volume and the limit amount of braking force according to operating speed, can be also the mode changing continuously.

(14) vehicle motion control system of recording to any one in (13) item as (11) item,

It is that at least one in described steering volume and described braking force limited so that the control of described vehicle body acceleration outside described high overturning range of possibility that the restriction of described amount of exercise is controlled.

The mode of this record is that amount of exercise restriction is controlled and is made as that to make foregoing vehicle body acceleration be the mode of the control outside high overturning range of possibility.According to the mode of this record, can control and reduce reliably the possibility of vehicle generation overturning according to amount of exercise restriction, and can prevent the overturning of vehicle.

(15) as (14) vehicle motion control system of recording,

This vehicle motion control system is carried out to turn to and is controlled and brake-power control, described turning to controlled the acceleration/accel of described vector being controlled to become the overall width direction corresponding with steering operation, described brake-power control controls to become the acceleration/accel of the fore-and-aft direction corresponding with brake operating to described braking force

Described amount of exercise restriction is controlled and is constituted as:

Definite aimed acceleration as the described vehicle body acceleration that should produce in vehicle body is to avoid entering into described high overturning range of possibility, the component of the aimed acceleration of being determined based on this in overall width direction controlled described steering volume, and the component on fore-and-aft direction is controlled described braking force based on this aimed acceleration, thus the steering volume of described wheel flutter and each of braking force that offers vehicle are limited, make described vehicle body acceleration outside described high overturning range of possibility.

The mode of this record is: by the steering volume of wheel flutter and the vehicle body acceleration of the target that becomes control that offers the braking force of vehicle are limited, the steering volume of those wheel flutters and the braking force that offers vehicle are limited.That is, according to this described mode, owing to not producing vehicle body acceleration, become the vehicle body acceleration in high overturning range of possibility, therefore can prevent the overturning of vehicle.

This record " turning to control " can be made as following mode: such as the definite target lateral acceleration that become the acceleration/accel as overall width direction of target such as operation angle based on steering operation, and the steering volume of controlling wheel flutter is to realize this target lateral acceleration.In addition, " brake-power control " can be made as following control: the operational ton based on brake operating is determined the target front and back acceleration/accel of the acceleration/accel as fore-and-aft direction that becomes target, and controls to become this target front and back acceleration/accel to offering the braking force of vehicle.And, in the situation that the vehicle body acceleration after acceleration/accel before and after those target lateral acceleration and target is synthesized enters into high overturning range of possibility, think that the possibility of vehicle generation overturning uprises.The mode of this record can be made as following mode: aimed acceleration determination portion so that before and after those target lateral acceleration and target the vehicle body acceleration of acceleration/accel after synthesizing be limited in outside high overturning range of possibility, in other words, be modified to and become the external definite target vehicle body acceleration of high overturning range of possibility.

(16) as (15) vehicle motion control system of recording, wherein,

To be defined as described aimed acceleration outside described high overturning range of possibility and be defined as and turn to restriction acceleration/accel by only limiting described steering volume, and

To be defined as described aimed acceleration outside described high overturning range of possibility and be defined as braking force restriction acceleration/accel by only limiting described braking force,

In these cases,

Described amount of exercise restriction is controlled and is determined described aimed acceleration, make described aimed acceleration towards described in being, turn to restriction acceleration/accel towards and described braking force restriction acceleration/accel towards between towards, and the size of described aimed acceleration equals and this threshold value towards corresponding described high overturning range of possibility.

According to the mode of this record, can by the steering volume of wheel flutter and offer vehicle braking force the two be limited in suitable size, and can prevent the overturning of vehicle.

(21) as the vehicle motion control system that in (1) to (16), any one is recorded, wherein,

Described overturning prevents from controlling and comprises that the vehicle body that vehicle body is tilted to the direction that reduces the possibility of vehicle generation overturning topples over control.

The mode of this record is to make overturning prevent a mode of control specializing, be make vehicle body to vehicle do not occur overturning towards the mode tilting forcibly.In detail, the overturning of this record prevents that control from being by making the center-of-gravity position of vehicle body reduce the control of the possibility of vehicle generation overturning away from the straight line that links front-wheel and right straight line of taking turns or link front-wheel and revolver.

(22) vehicle motion control system of recording as (21), wherein, described vehicle body topples over that to control be the control that makes body inclination, towards the opposite towards carrying out displacement to described vehicle body acceleration of the center-of-gravity position that makes the vehicle body when overlooking.

According to the mode of this record, can more effectively make the center-of-gravity position of vehicle body away from the straight line that links front-wheel and right straight line of taking turns or link front-wheel and revolver.

(23) as (22) vehicle motion control system of recording, wherein, described vehicle body topple over control be according to described vehicle body acceleration become mode outside described high overturning range of possibility determine vehicle body center-of-gravity position displacement and make body inclination so that the center-of-gravity position of vehicle body carries out the control of displacement with this displacement.

The mode of this record makes to be made as and vehicle body is toppled over controls is the mode of the control outside high overturning range of possibility that foregoing vehicle body acceleration is made as.According to the mode of this record, by vehicle body, topple over the possibility that control can reduce vehicle generation overturning reliably, and can prevent the overturning of vehicle.In addition, according to this mode, few for the amount that makes body inclination vehicle body acceleration being made as outside high overturning range of possibility, can effectively prevent the overturning of vehicle.

(24) as the vehicle motion control system that in (21) to (23), any one is recorded, wherein,

Carry this vehicle motion control system vehicle and also there are a plurality of wheel vehicle body spacing modifiers, each of described a plurality of wheel vehicle body spacing modifiers and described a plurality of wheels arranges accordingly, change respectively the wheel vehicle body spacing as the distance of the wheel corresponding with self and vehicle body

Described vehicle body is toppled over to control by controlling those a plurality of wheel vehicle body spacing modifiers and is controlled and make body inclination.

(25) as (24) vehicle motion control system of recording, wherein,

Described vehicle body is toppled over the described a plurality of wheel vehicle body spacing modifiers of control, make in the situation that vehicle is high to the possibility of right front generation overturning, realize to increase with described and rightly take turns with each corresponding wheel vehicle body spacing of described front-wheel and reduce at least one in the wheel vehicle body spacing corresponding with described revolver, and, described vehicle body is toppled over the described a plurality of wheel vehicle body spacings of control and is changed, make in the situation that vehicle is high to the possibility of left front generation overturning, realize to increase with each corresponding wheel vehicle body spacing of described revolver and described front-wheel and reduce and described right at least one of taking turns in corresponding wheel vehicle body spacing, make thus body inclination.

The mode that above-mentioned two items are recorded makes the specific mode of the method that makes body inclination." wheel vehicle body spacing modifier " that above-mentioned two items are recorded, as long as can change wheel vehicle body spacing, is not specially limited, but preferably can change with the time of trying one's best short wheel vehicle body spacing.; as this wheel vehicle body spacing modifier; such as just there being bumper of electromagnetic type etc.; the bumper of described electromagnetic type has electromagnetic motor; than the power that relies on this electromagnetic motor to produce, for wheel and vehicle body, their are produced to approach, leave towards power, by the propelling thrust that the bumper of this electromagnetic type is produced for the approaching of wheel and vehicle body, departure motion, also can make those wheels and vehicle body approach, leave.

(31) as the vehicle motion control system that in (1) to (23), any one is recorded, wherein, described overturning prevents from controlling and comprises that the cornering properties of the understeer tendency that strengthens vehicle changes control.

The mode of this record is to make overturning prevent a mode of control specializing, and is the operational ton for certain steering operation, and the cornering properties when common is compared and is made as the mode of understeer tendency.In addition, this mode also can consider the mode that diminishes with yaw-rate control, with turn radius, become the control of large mode.That is, according to this mode so that from the center-of-gravity position of vehicle body approach to front-wheel towards, vehicle body acceleration is made as outside high overturning range of possibility, thereby can prevents the overturning of vehicle.In addition, " strengthen understeer tendency " described in this refers to that the cornering properties also comprising when vehicle is in the situation of oversteer, to weaken the concept of this oversteer tendency.

In the mode of this, the method that strengthens the understeer tendency of vehicle is not specially limited, and can adopt the whole bag of tricks describing in detail in the back.In addition, this mode can be made as the mode to two in those the whole bag of tricks above executed in parallel.And, also can be made as following mode: executed in parallel prevents (i) that control to the steering volume of wheel flutter and offers at least one control limiting in the braking force of vehicle and (ii) make at least one in the control of vehicle body run-off the straight as overturning as previously described.

(32) as (31) vehicle motion control system of recording, wherein,

Described cornering properties change control comprise becoming in revolver and right wheel described in the braking-force ratio that makes to offer the wheel that becomes turning foreign steamer in described revolver and right wheel turn in the large control of braking force of wheel of wheel.

The mode of this record makes following mode: poor by making to provide each braking force of left and right wheels to obtain, and the yaw moment of vehicle is reduced, the understeer that strengthens vehicle is inclined to.Particularly, by the braking force that offers wheel in turning is reduced, or the braking force that offers turning foreign steamer is increased, or by carrying out both, can strengthen the understeer tendency of vehicle.In addition, preferably, in the situation that be made as, do not change the braking force that offers vehicle, change the distribution of the braking force of left and right wheels.In this mode, if do not make to offer the braking force of turning foreign steamer, do not change, and make to offer turn in the braking force of wheel reduce, offer left and right wheels each on braking force obtain poorly, make to offer the braking force minimizing of vehicle.In this case, can consider the mode that the foregoing braking force that makes to offer vehicle reduces, or also can consider to change and make to offer control that the braking force of vehicle reduces and the control of this record carrys out executive mode.

(33) as (31) item or (32) vehicle motion control system of recording, wherein,

Described cornering properties changes controls the control that comprises the camber angle of at least one wheel in the described a plurality of wheels of change.

The mode of this record allow to particularly by so that for example the upper direction of the front-wheel outside of turning tilt to change camber angle over the ground camber thrust reduced, thereby strengthen the understeer tendency of vehicle.In addition, for left and right wheels, in the situation that they are positioned at rear by the upper direction turning medial of wheel is tilted with the center-of-gravity position ratio of vehicle body, and in the situation that the center-of-gravity position of they and vehicle body is positioned at upper direction that the place ahead the makes wheel outside of turning, tilt, can strengthen thus the understeer tendency of vehicle.And, in the situation that carry the vehicle of this vehicle motion control system, there is trailing wheel, by the upper direction turning medial of this trailing wheel is tilted, can strengthen the understeer tendency of vehicle.

(34) as the vehicle motion control system that in (31) to (33), any one is recorded, wherein,

Described cornering properties changes controls the control that comprises the described revolver of change and right bundle angle of taking turns.

The mode of this record can be made as following mode particularly: in the situation that left and right wheels with the center-of-gravity position of vehicle body than being positioned at rear, to become the mode of toe-in (toe in), change the bundle angle of left and right wheels, in the situation that left and right wheels with the center-of-gravity position of vehicle body than being positioned at the place ahead, to become the mode of posterior cord, change the bundle angle of left and right wheels.

(35) as the vehicle motion control system that in (31) to (34), any one is recorded, wherein,

The vehicle that carries this vehicle motion control system also has and described revolver and right wheel than configure and be set as the single trailing wheel of wheel flutter by rear view of vehicle side,

Described cornering properties change control comprises makes described trailing wheel to control towards turn to identical with described front-wheel.

The mode of this record makes following mode, by trailing wheel and front-wheel are in phase turned to, reduces the yaw moment to turning medial, and strengthens the understeer tendency of vehicle.

Accompanying drawing explanation

Fig. 1 illustrates to have carried the schematic diagram forming as the integral body of a vehicle with kinetic control system that can ask the first embodiment of invention;

Fig. 2 is the lateral plan that the chassis corresponding with front-wheel is shown;

Fig. 3 illustrates the front cross sectional drawing chassis corresponding with revolver, that observe from vehicle front;

Fig. 4 illustrates as the high overturning range of possibility of the scope of the high vehicle body acceleration of the possibility of vehicle overturning and illustrates to determine and make target vehicle body acceleration become the figure of the method outside high overturning range of possibility;

Fig. 5 is the figure that is illustrated in the relation of the coefficient of correction that uses while determining target vehicle body acceleration and the speed of a motor vehicle;

Fig. 6 means the diagram of circuit of determining handler by the mark vehicle body acceleration of the electronic control unit execution shown in Fig. 1;

Fig. 7 means the diagram of circuit of the brake-power control program of carrying out by the electronic control unit shown in Fig. 1;

Fig. 8 means the diagram of circuit that turns to control program of carrying out by the electronic control unit shown in Fig. 1;

Fig. 9 be with as be can ask invention the first embodiment vehicle motion control system control setup and bring into play the relevant block diagram of the function of electronic control unit of function;

Figure 10 is the figure being illustrated in as the operating speed ratio of the ratio of brake operating speed and steering operation speed, and described brake operating speed and steering operation speed are used in the vehicle motion control system of the variation of the first embodiment;

Figure 11 is the figure that is illustrated in the coefficient of correction that uses in the vehicle motion control system of variation and the relation of operating speed ratio when determining target vehicle body acceleration;

(a) of Figure 12 and (b) be to illustrate as being that the overturning carried out in can asking the vehicle motion control system of the second embodiment of invention prevents that the vehicle body of controlling from toppling over the concise and to the point figure of control, (a) being its lateral plan, is (b) figure illustrating watching from rear view of vehicle;

Figure 13 illustrates in order to make the center-of-gravity position of vehicle body carry out the figure towards the method with amount of displacement for determining outside high overturning range of possibility;

Figure 14 means the diagram of circuit of the shock absorber power control program that electronic control unit that the vehicle motion control system by the second embodiment has is carried out;

Figure 15 be in the vehicle motion control system of the 3rd embodiment that can ask invention, carry out as overturning, prevent that the cornering properties of controlling from changing the concise and to the point figure controlling;

Figure 16 means that execution that electronic control unit that the vehicle motion control system by the 3rd embodiment has is carried out controls the diagram of circuit of changeover program;

Figure 17 means the diagram of circuit of the brake-power control program that electronic control unit that the vehicle motion control system by the 3rd embodiment has is carried out;

Figure 18 means the diagram of circuit that turns to control program that electronic control unit that the vehicle motion control system by the 3rd embodiment has is carried out.

The specific embodiment

Below, as for implementing to ask the best mode of invention, with reference to accompanying drawing, several embodiments of the present invention and variation thereof are described in detail.In addition, can ask invention except following embodiment, headed by a mode of recording of aforementioned (mode of invention), can implement various changes, the enforcement of improved variety of way with the knowledge based on those skilled in the art.In addition, the technology item that can also utilize every explanation of (mode of invention) to record, forms the variation of following embodiment.

Embodiment 1

The formation > of the vehicle of < equipped vehicle kinetic control system

The schematically illustrated conduct of Fig. 1 can be asked the vehicle of equipped vehicle kinetic control system of the first embodiment of invention.This vehicle has four wheels 12 of the diamond shape of being configured to.In detail, have: the front-wheel 12F, the revolver 12M in the roughly intermediate configurations of vehicle fore-and-aft direction in every one end at the two ends of overall width direction that are configured in the front side of vehicle _land the right 12M that takes turns _r, be configured in the trailing wheel 12R of the rear side of vehicle.In addition, this vehicle boarded suspension system, at four wheel 12F, 12M _l, 12M _r, between 12R and vehicle body 14, each of this suspension system and these four wheels 12 is corresponding and have four draft hitchs 16 of independent suspension formula.And, on this vehicle, being also equipped with brake system, this brake system is constituted as so-called electromechanical formula braking (EMB).In detail, this brake system is following system: be separated into physically by brake pedal 20 be made as main body brake operating device and with four brake equipments 22 of each corresponding setting of four wheels 12, the power of the propulsion source being had by corresponding brake equipment 22 for each wheel 12 produces braking force.In addition, those draft hitchs 16, brake equipment 22 are general names, need to be clearly with which of four wheels at once, same with wheel 12, also as shown in the figure, sometimes with front-wheel, revolver, rightly take turns, each corresponding and mark of trailing wheel is as subscript F, M that wheel position is shown _l, M _r, R.

In this vehicle, front-wheel 12F and trailing wheel 12R in four wheels 12 are configured to wheel flutter.In this vehicle, also carry steering swivel system, this steering swivel system is configured to so-called steer-by-wire system.; this steering swivel system is following system: be mechanically separated into by bearing circle 30 be made as main body steering operation device 32 and with two steering hardwares 34 of each corresponding setting of front-wheel 12F and trailing wheel 12R, and do not rely on and be applied to the operating effort of bearing circle 30 and the power of each propulsion source having by two steering hardwares 34 turns to front-wheel 12F, trailing wheel 12R.In addition, about two steering hardwares 22, will explain in the back.

In addition, in this vehicle, the revolver 12M in four wheels 12 _lwith the right 12M that takes turns _rform drive wheel.This vehicle is the vehicle of so-called drive-by-wire mode, be mechanically separated into will speed up pedal 40 be made as main body acceleration handling device and with revolver 12M _lwith the right 12M that takes turns _reach corresponding two actuating device 42 that arrange.And correspondingly each motors having of two actuating devices 42 is driven with the operation of acceleration pedal 40, the power by each motor promotes vehicle.In addition, about two actuating devices 42, will explain in the back.

The draft hitch 16 corresponding with four wheels 12 be owing to being roughly same formation, therefore considers the simplification of explanation and with reference to figure 2, take the draft hitch corresponding with front-wheel 12F and describe as representative.Draft hitch 16F similarly constructs with wishbone suspension, has upper arm 50 and underarm 52.An end separately of those upper arm 50 and underarm 52 links with vehicle body 14 rotationally, and the other end is linked to the top of the bracket 54 that wheel 12 is kept in rotatable mode via ball-and-socket type joint.By such formation, bracket 54 is configured to the track that can describe roughly to fix with respect to vehicle body 14 and up-and-down movement, and be configured to and can rotate around the axle (central pin shaft) that connects two ball-and-socket type joints, described two ball-and-socket type joints link two

arms

50,52 the other end separately.

In addition, draft hitch 16F has: as the coil spring 60 of axle spring, and bumper 62.Those coil springs 60 and bumper 62 are belonging to configuration side by side each other between the seat portion as spring top of a part of vehicle body 14 and the underarm 52 of a part for formation spring bottom respectively.Bumper 62 is so-called electromagnetic bumpers, has electromagnetic motor 64, and is constituted as the power that relies on this electromagnetic motor 64 to produce and for spring top, makes it produce towards approaching or the power of separated direction with spring bottom.That is, bumper 62 is constituted as the attenuation power that can produce for the approaching and separating action of spring top and spring bottom.In addition, bumper 62 is constituted as: the power that can produce by the electromagnetic motor 64 and distance between spring top and spring bottom is maintained to distance arbitrarily, the pitching of the vehicle body during effectively to the inclination of the vehicle body of Ackermann steer angle, vehicle acceleration and deceleration etc. suppresses etc.And bumper 62 is constituted as the resistance that can not only produce for the approaching and separating action of spring top and spring bottom, can also produce propelling thrust.That is, bumper 62 is constituted as the wheel vehicle body spacing that can change as the distance of the above-below direction of wheel 12 and vehicle body 14, as wheel vehicle body spacing control setup, plays a role.

Bracket 54 comprises: link with above-mentioned two

arms

50,52 and the axial region 70 of the bracket 54 that rotates around self axis and link and form substantially with the lower end of this axial region 70 the maintaining part 72 of word shape (with reference to figure 3), the axis that they can extend around the fore-and-aft direction of wheel 12 each other rotates.In addition, bracket 54 has electromagnetic motor 74.This electromagnetic motor 74 is configured in the inside of the bottom of axial region 70, and stator is fixed on axial region 70, and rotor is fixed on maintaining part 72.Therefore, electromagnetic motor 74 is constituted as the power that can produce by self makes maintaining part 72 rotate with respect to axial region 70,, can change the camber angle of wheel 12 that is.

In addition, the upper end of bracket 54 and electromagnetic motor 80 link.The stator of this electromagnetic motor 80 is maintained on vehicle body 14, and rotor is fixed on bracket 54.That is, be constituted as and can rely on the power that this electromagnetic motor 80 produces and bracket 54 is rotated around central pin shaft.By as mentioned above, in front-wheel 12F and trailing wheel 12R, be constituted as and can make front-wheel 12F, trailing wheel 12R turn to.That is, comprise electromagnetic motor 80 and bracket 54 forms steering hardware 34F, 34R.On the other hand, at revolver 12M _lwith the right 12M that takes turns _rin, be constituted as the power that can rely on electromagnetic motor 80 to produce bracket 54 is rotated around central pin shaft, make thus to restraint angle and change.

Except above-mentioned draft hitch 16, also comprise the brake equipment 22 as electromechanical formula drg with each corresponding chassis of front-wheel 12F and trailing wheel 12R.As shown in Figure 2, this brake equipment 22 comprises: with disk rotor 90 that wheel 12 rotates integratedly, be configured in the brake shoe on the bracket 54 of of the vehicle not rotating and this brake shoe is pushed to the electromagnetic motor 92 on disk rotor 90 together with wheel.That is, brake equipment 22F is constituted as the power of dependence electromagnetic motor 72 generations and between disk rotor 90 and brake shoe, produces friction force, and produces braking force by this friction force.

Then, for revolver 12M _lwith the right 12M that takes turns _reach corresponding chassis describe.Due to revolver 12M _lwith the right 12M that takes turns _reach be drive wheel, therefore the chassis corresponding from them is different with the formation on each corresponding chassis of front-wheel 12F with above-mentioned and trailing wheel 12R, also comprises brake equipment 22 and actuating device 42 except draft hitch 16.In addition, with those revolvers 12M _lwith the right 12M that takes turns _reach corresponding chassis owing to being considered as essentially identical formation, therefore consider explanation simplification and with reference to figure 3 with revolver 12M _lcorresponding chassis is that representative describes.

Actuating device 42M _lbe to take the device that electromagnetic motor 100 is main body, this electromagnetic motor 100 comprises: be fixed on stator 102 on bracket 54, rotatably remain on the motor drive shaft 104 on bracket 54 and be fixed on the rotor 106 on this motor drive shaft 104.Wheel 12 is fixed on motor drive shaft 104, and electromagnetic motor 100 is constituted as and can directly makes wheel 12 rotations.That is, actuating device 42ML is constituted as so-called hub motor, and is constituted as the power that relies on electromagnetic motor 100 to produce and produces propulsive effort.

Brake equipment 22ML is and the basic same electric apparatus formula drg forming of front and back

wheel

12F, 12R, and is constituted as dependence electromagnetic motor 72M _lthe power producing makes to be fixed between disk rotor 110 on motor drive shaft 104 and brake shoe 112 and produces friction force, and produces braking force by this friction force.

In this vehicle, as shown in Figure 1, by electronic control unit 200 (being sometimes referred to as below " ECU 200 "), control the motion of vehicle.Specifically, by controlling the work of each motor having of above-mentioned four draft hitchs 16, four brake equipments 22, two steering hardwares 34, two actuating devices 42, control the motion of vehicle.In addition, ECU 200 take there is CPU, the computing machine of ROM, RAM etc. forms as main body.In addition, although ECU 200 with omitted a plurality of inverters that diagram plays a role as the driving circuit of each motor and be connected, by controlling those inverters, can to each motor, provide electric power from the power supply being connected with those inverters.

As shown in Figure 1, in vehicle, be provided with: to Vehicle Speed (below sometimes referred to as " the speed of a motor vehicle ") car speed sensor [v] 220 detecting, the operation angle sensor [S that the operation angle of bearing circle is detected _a] 222, the rotative speed of the vertical axis of opposing connection vehicle body 14 is the yaw rate sensor [ω] 224 that yaw-rate detects, to the front and back acceleration pick-up [Gx] 226 that actual front and back acceleration/accel detects of the actual front and back acceleration/accel producing in vehicle body 14, to the actual transverse acceleration producing in vehicle body 14, it is the lateral acceleration sensor [Gy] 228 that actual transverse acceleration detects, longitudinal acceleration sensor [Gz] 230 on four springs that the acceleration/accel of the above-below direction of each portion of the vehicle body corresponding with each wheel 12 14 is detected, acceleration stroke sensor [the S that the operational ton of acceleration pedal is detected _d] 232, braking distance sensor [S that the operational ton of brake pedal is detected _b] 234 etc., they are connected with the computing machine of ECU 200.ECU 200 is constituted as the control that signal based on from those switches, sensor carries out the work of motor.It should be noted that, the character in [] is the symbol using while representing in the drawings the situation of above-mentioned switch, sensor.In addition, in the ROM that the computing machine of ECU 200 has, store the program relevant with the control describing in detail, various data etc. below.

Vehicle motion control > when < is common

I) control of brake equipment

In this vehicle motion control system, can carry out independent control to each of four brake equipments 22, and control the braking force corresponding with each wheel 12 independently.This brake-power control is following control: according to the operational ton S of brake pedal 20 _bdetermine the target front and back acceleration/accel Gx of the conduct front and back acceleration/accel that should produce in vehicle body 14 ^*, and give braking force to realize these target front and back acceleration/accel Gx to vehicle ^*.Specifically, first, by braking distance sensor 234, detect brake operating amount S _b.In the ROM of ECU 200, preserve this brake operating amount S _bas acceleration/accel Gx before and after the target of parameter ^*mapping (enum) data, acceleration/accel Gx before and after definite target ^*time with reference to this mapping (enum) data.Then, determine according to the following formula the target braking force F of the braking force that should produce as vehicle integral body _b.

F _b=K1Gx ^*(K1: gain)

Then, based on as to this target braking force F _bthe braking force distribution ratio of the ratio of distributing with the predefined braking force that is given to each wheel 12, determines brake equipment 22F corresponding to front-wheel 12F, and revolver 12M _lcorresponding brake equipment 22M _l, with the right 12M that takes turns _rcorresponding brake equipment 22M _r, the brake equipment 22R corresponding with trailing wheel 12R each target braking force F _b-F, F _b-ML, F _b-MR, F _b-R.In addition, be given to revolver 12M _lbraking force F _b-MLbe given to the right 12M of wheel _rbraking force F _b-MRconventionally be constituted as formed objects.It should be noted that, in the situation that can produce regenerative brakes by the electromagnetic motor 100 of actuating device 42, also can be configured to and make the braking force that produced by this regenerative brake preferential, determine the braking force being produced by brake equipment 22.

And, by inverter, undertaken for the braking force that is given to each wheel 12 is made as to target braking force F _b-F, F _b-ML, F _b-MR, F _b-Rthe job control of motor 92.In detail, about based target braking force F _b-F, F _b-ML, F _b-MR, F _b-Rand the instruction of definite dutycycle is sent to inverter, the driving that completes the motor 92 based on this instruction by inverter is controlled.

Ii) control of steering hardware

In this vehicle motion control system, can carry out independent control to each of two steering hardwares 34, and control independently turning to of front and back wheel 12F, 12R.This turns to and controls is following control: according to the operational ton of bearing circle 30 and the speed of a motor vehicle, determine the target lateral acceleration as the transverse acceleration that should produce in vehicle body 14, and make front and back

wheel

12F, 12R turn to realize this target lateral acceleration.Specifically, first, the operation angle S based on by the detected bearing circle 30 of operation angle sensor 222 _awith by the detected speed of a motor vehicle v of car speed sensor 220, calculate according to the following formula target lateral acceleration Gy ^*.

Gy ^*＝K2·{v/(1+Kh·v2)·S _A

(K2: gain, Kh: target stability coefficient)

Then, by lateral acceleration sensor 228, obtain actual lateral acceleration G yr, assert as actual transverse acceleration Gyr with respect to target lateral acceleration Gy ^*transverse acceleration deviation delta the Gy (=Gy of deviation ^*and the deflection angle θ of definite front-wheel 12F-Gyr), _f ^*and the deflection angle θ of trailing wheel 12R _r ^*, so that this transverse acceleration deviation delta Gy is 0.

In addition,, in ECU 200, based on above-mentioned transverse acceleration deviation delta Gy, PDI control law is according to the following formula determined the deflection angle θ as the front-wheel 12F of target _f ^*and the deflection angle θ of trailing wheel 12R _r ^*.

θ _F ^*＝K _P1-θ _F·ΔGy+K _D1-θ _F·ΔGy’+K _I1-θ _F·∫(ΔGy)dt

θ _R ^*＝K _P1-θ _R·ΔGy+K _D1-θ _R·ΔGy’+K _I1-θ _R·∫(ΔGy)dt

Here, the 1st, the 2nd, the 3rd represents respectively proportional component, differential term component, the integration item component in target steering angle, K _p, K _d, K _irepresent respectively proportional gain, the differential gain, storage gain.

Iii) control of actuating device

In this vehicle motion control system, can carry out independent control to each of two actuating devices 42, and independently control the propulsive effort corresponding with each wheel 12.It is following control that this propulsive effort is controlled: according to the operational ton that imposes on acceleration pedal 40, determine as acceleration/accel Gx before and after the target of the front and back acceleration/accel that should produce in vehicle body 14 ^*, and give propulsive effort to realize these target front and back acceleration/accel Gx to vehicle ^*.Determine the target drive force FD of the propulsive effort that all should produce as vehicle.Specifically, first, by acceleration stroke sensor 232, detect acceleration operation amount S _d.In the ROM of ECU 200, preservation is by this acceleration operation amount S _das acceleration/accel Gx before and after the target of parameter ^*mapping (enum) data, acceleration/accel Gx before and after definite target ^*time with reference to this mapping (enum) data.Then determine the target drive force FD of the propulsive effort that should produce as vehicle integral body.Then, based on as to this target drive force FD and predefined to left and right wheels 12M _l, M _rthe propulsive effort distribution ratio of the propulsive effort ratio of distributing, determine and revolver 12M _lcorresponding actuating device 42M _l, with the right 12M that takes turns _rcorresponding actuating device 42M _reach target drive force F _d-ML, F _d-MR.In addition those target drive force F, _d-ML, F _d-MRconventionally be set as identical size.

Iv) control of electromagnetic bumper

A) the control overview of bumper

In this vehicle motion control system, can carry out independent control to each of four bumpers 62.In each of those bumpers 62, control independently shock absorber power, carry out vibration for making vehicle body 14, be the control (being sometimes referred to as below " vibration control ") of vibration damping on spring.In addition, the control (being sometimes referred to as below " pitching inhibitory control ") for the pitching of the control (being sometimes referred to as below " inclination inhibitory control ") of the inclination of the vehicle body that suppresses to be caused by the turning of vehicle and the vehicle body that causes for the acceleration and deceleration that suppress by vehicle is the control of executed in parallel.Total suppresses component and determines as the target shock absorber power of controlling expected value as vibration damping component, inclination inhibition component, the pitching of the shock absorber component of force of each control, by controlling, make bumper 62 produce this target shock absorber power, carry out thus synthetically to carry out above-mentioned vibration control, roll inhibitory control, pitching inhibitory control.

B) vibration control

In vibration control, determine the vibration damping component F that will make the big or small shock absorber power corresponding with the speed of this vibration produce in order to make the vibration damping of vehicle body 14 _aV.That is, vibration control is the control based on so-called large hook-type shock absorber theory.Specifically, based on by be arranged on the vehicle body 14 that on the spring of seat portion of vehicle body 14, on the detected spring of longitudinal acceleration sensor 230, longitudinal acceleration draws seat portion above-below direction responsiveness, based on absolute velocitye V on so-called spring _s, calculate according to the following formula vibration damping component F _aV.

F _aV=C _sv _s(C _s: extinguishing coefficient)

C) roll inhibitory control

At Ackermann steer angle, the bank moment causing because of this turning can make left and right wheels 12M _l, M _rin turning in the spring top of wheel side separated with spring bottom, and the spring top of the foreign steamer side that makes to turn and spring bottom approaching.In rolling inhibitory control, in order to suppress the separation of wheel side in this turning and approaching of turning foreign steamer side, the interior bumper 62 of taking turns side that makes to turn produces the shock absorber power of the direction of upspringing, the shock absorber power that the bumper 62 of the foreign steamer side that makes to turn produces the direction of rebounding is come respectively as rolling restraint.Specifically, adopt to estimate that transverse acceleration is as take the transverse acceleration that the bank moment that produces on vehicle body 14 is target, described estimation transverse acceleration is the transverse acceleration in the situation that supposition makes turn inside diameter according to steering operation.That is, this estimation transverse acceleration is equivalent to the target lateral acceleration Gy illustrating in the control of steering hardware 34 ^*.And, based on as the above-mentioned target lateral acceleration Gy calculating ^*(=K ₁{ v/ (1+Khv ²) S _a), come according to the following formula to determine to roll and suppress component F _aR.

F _aR=K ₃gy* (K ₃: gain)

D) pitching inhibitory control

During deceleration when braking at vehicle etc., produce the situation of nod (the nose dive) of vehicle body 14, owing to producing this pitching moment of nodding, can make spring top and the spring bottom of front-wheel 12F side approach, and make the spring top of trailing wheel 12R side separated with spring bottom.In addition, when in the situation that the sinking (squat) that produces vehicle body 14 during the acceleration of vehicle, owing to producing the pitching moment of this sinking, can make the spring top of front-wheel 12F side separated with spring bottom, and the spring top of trailing wheel 12R side and spring bottom are approached.In pitching inhibitory control, producing in order to suppress the shock absorber masterpiece of the change of spring top in those situations and the distance between spring bottom is pitching restraint.Specifically, before and after adopt estimating, acceleration/accel is as take the front and back acceleration/accel that the pitching moment that produces is target in vehicle body 14, and before and after described estimation, acceleration/accel is the front and back acceleration/accel in the situation that being assumed to according to brake operating or accelerating operation and make vehicle acceleration and deceleration.That is acceleration/accel Gx before and after the target that, before and after this estimation, acceleration/accel is equivalent to illustrate in the control of brake equipment 22, actuating device 42 ^*.And, acceleration/accel Gx before and after the target based on obtaining as mentioned above ^*, come according to the following formula to determine that pitching suppresses component F _aP.

F _aP=K ₄gx (K ₄: gain)

E) control determining of expected value

The target shock absorber power of the shock absorber power of the control of bumper 62 based on producing as it is carried out.In detail, as mentioned above, when determining the vibration damping component F of shock absorber power _aV, roll to suppress component F _aR, pitching suppresses component F _aPtime, based on vibration damping component F _aVsuppress component F with pitching _aP, determine according to the following formula the target shock absorber power F of the bumper 62 corresponding with front and back wheel 12F, R _a-F ^*, F _a-R ^*, and based on vibration damping component F _aVsuppress component F with rolling _aR, come according to the following formula to determine and left and right wheels 12M _l, M _rthe target shock absorber power F of corresponding bumper 62 _a-ML ^*/ F _a-MR ^*.

F _A-F ^*＝F _AV+F _AP

F _A-R ^*＝F _AV-F _AP

F _A-ML ^*＝F _AV-F _AR

F _A-MR ^*＝F _AV+F _AR

V) control at camber angle and bundle angle

In addition the camber angle of four wheels 12 and left and right wheels 12M, _l, M _rbundle angle except following those of the variation to the direction of upspringing, rebound of wheel 12 change, be not conventionally changed.That is,, for changing and the electromagnetic motor 74 of each camber angles having of four draft hitchs 16 of four corresponding settings of wheel 12 position of conventionally maintaining a neutral stance, avoid carrying out relative rotation with axial region 70 and the maintaining part 72 of bracket 54.In addition, for changing and left and right wheels 12M _l, M _rthe electromagnetic motor 80 at each bundle angle having of corresponding draft hitch 16 position of conventionally maintaining a neutral stance, avoids bracket 54 to rotate around central pin shaft.

< overturning prevents from controlling (amount of exercise restriction is controlled) >

I) overturning prevents from controlling the overview of (amount of exercise restriction is controlled)

This vehicle is single wheel 12F because the place ahead at vehicle only configures, therefore from the center-of-gravity position (can think position roughly the same with the center-of-gravity position of vehicle body quiescence) of vehicle to linking front-wheel 12F and revolver 12M _lstraight line distance and from center-of-gravity position to linking front-wheel 12F and the right 12M that takes turns _rthe distance of straight line than from center-of-gravity position to revolver 12M _l, the right 12M that takes turns _rthe distance of overall width direction short, particularly easily to oblique the place ahead overturning of vehicle.Specifically, for example, in christiania, when effect on vehicle body 14 is during towards the power in oblique the place ahead, vehicle is overturning likely.Therefore,, in this vehicle motion control system, in the situation that the possibility of vehicle overturning uprises, carry out in order to prevent that the overturning of this overturning from preventing from controlling.This overturning prevent from control determining have size be set to according to this vehicle body acceleration towards and the high overturning range of possibility of different threshold value as the high scope of possibility of vehicle generation overturning, and control the motion of vehicle, make the vehicle body acceleration of the acceleration/accel after synthetic as the front and back acceleration/accel producing in vehicle body 14 and transverse acceleration outside this high overturning range of possibility.Specifically, be that the restriction of following amount of exercise is controlled: by restriction as the front and back wheel 12F of wheel flutter, the deflection angle of R and the braking force that offers vehicle make vehicle body acceleration G outside high overturning range of possibility.Below this amount of exercise restriction is controlled and is described in detail.

Ii) judgement of the possibility of overturning

Whether the possibility that vehicle overturning occurs is high, is based on the size of the acceleration/accel that produces in vehicle body 14 and towards judging.First, as shown in Figure 4, consider the lateral acceleration G y of the front and back acceleration/accel Gx of vehicle and vehicle to be made as the coordinate plane of coordinate axle.For example consider to vehicle front overturning.In this case, the high H of center of gravity becomes higher, and the easier overturning of vehicle is shorter to the distance L F of front-wheel 12F from the center-of-gravity position of vehicle, the easier overturning of vehicle.Thus, to the big or small limits value Gx of the acceleration/accel of vehicle front _mAXcalculate according to the following formula.

Gx _MAX＝Kx·L _F/H

In addition, in the situation that consider the overturning to overall width direction, the high H of center of gravity becomes higher, and the easier overturning of vehicle, from center-of-gravity position to revolver 12M _lor the right 12M that takes turns _rdistance (half of wheelspan Tr) shorter, the easier overturning of vehicle.That is, to the big or small limits value Gy of the acceleration/accel of overall width direction _mAXcalculate according to the following formula.

Gy _MAX＝Ky·(Tr/2)/H

And, determine the limits value of vehicle body acceleration in oblique the place ahead of vehicle, make from the center-of-gravity position of vehicle body 14 towards with link front-wheel 12F and the right 12M of wheel _rline segment quadrature direction vehicle body acceleration component size and from the center-of-gravity position of vehicle body 14 towards with link front-wheel 12F and revolver 12M _lthe size of component of vehicle body acceleration of direction of line segment quadrature fix.That is,, on the coordinate plane shown in Fig. 4, the limits value of the oblique vehicle body acceleration of vehicle is by the front and back acceleration limit value Gx acceleration/accel axle before and after representing _mAXpoint by and to linking front-wheel 12F and the right 12M that takes turns _rthe straight line that extends of direction and to linking front-wheel 12F and revolver 12M _lthe straight line that extends of direction illustrate.That is, as shown in Figure 4, on above-mentioned coordinate plane, the threshold line of high overturning range of possibility determined, the outside of this threshold line is high overturning range of possibility.

And, in this vehicle motion control system, estimate lateral acceleration G y and estimate before and after the vehicle body acceleration (can think in the situation that the vector acceleration while watching above vehicle) of acceleration/accel synthesized enter into high overturning range of possibility, the possibility that is judged as vehicle generation overturning uprises, wherein said estimation lateral acceleration G y is that supposition makes the transverse acceleration of Ackermann steer angle according to steering operation, and before and after described estimation, acceleration/accel is suppose according to brake operating or accelerate to operate the front and back acceleration/accel while making vehicle acceleration and deceleration.In addition, this estimation transverse acceleration is equivalent to foregoing target lateral acceleration Gy ^*, before and after estimating, acceleration/accel is equivalent to foregoing target front and back acceleration/accel Gx ^*.That is, as to those target lateral acceleration Gy ^*with acceleration/accel Gx before and after target ^*the target vehicle body acceleration G of the acceleration/accel being synthesized into ^*fall in the situation of high overturning range of possibility, specifically, passing through target lateral acceleration Gy ^*with acceleration/accel Gx before and after target ^*determine that the possibility that is judged as vehicle generation overturning uprises in the situation that the point on above-mentioned coordinate plane enters into high overturning range of possibility.

Iii) restriction of aimed acceleration

In the situation that judge that by above-mentioned method the possibility of vehicle generation overturning uprises, ECU200 limited target vehicle body acceleration G ^*, make vehicle body acceleration outside high overturning range of possibility.That is, according to limited target lateral acceleration G y ^*with acceleration/accel Gx before and after target ^*at least one, and in the overturning that native system is carried out prevents from controlling, carry out following control: by those target lateral acceleration Gy ^*with acceleration/accel Gx before and after target ^*at least one limit, limit front and back wheel 12F, R deflection angle and to vehicle give with braking force at least one.

In addition, in native system, determine the deflection angle make front and back wheel 12F, R restriction and to vehicle to which of restriction of braking force preferential.For example consider to avoid to be present in the situation of obstacle in the place ahead of vehicle.Such in the situation that, in the situation that the speed of a motor vehicle is high, think by steering operation change vehicle towards more effective than making car brakeing, on the contrary, in the situation that the speed of a motor vehicle is low, think make car brakeing than by steering operation change vehicle towards more effective.Therefore, in native system, make the restriction of deflection angle and braking force which limits is preferential, based on being undertaken by the detected speed of a motor vehicle v of car speed sensor 220.

With reference to figure 4, explain which the preferential method that limits that makes the restriction of deflection angle and braking force for determining based on speed of a motor vehicle v.First, for target lateral acceleration Gy ^*with acceleration/accel Gx before and after target ^*target vehicle body acceleration G after synthetic ^*, obtain the target vehicle body acceleration Gy when only limiting transverse acceleration and making it outside high overturning range of possibility _limit, and only acceleration/accel and target vehicle body acceleration Gx while making it outside high overturning range of possibility before and after restriction _limit.And, at limited target vehicle body acceleration G ^*time, be preferably made as this two vehicle body acceleration Gy _limit, Gx _limitbetween acceleration/accel, determine its towards so that as the restriction vehicle body acceleration G ' that is limited in the vehicle body acceleration outside high overturning range of possibility between two vehicle body acceleration Gy _limit, Gx _limitbetween.Specifically, obtain as two vehicle body acceleration Gy _limit, Gx _limitthe change of formed angle allows angle Φ, to allowing angle Φ to be multiplied by the coefficient of correction k (0≤k≤1) definite according to speed of a motor vehicle v in this change, determines the vehicle body acceleration Gy that is construed as limiting vehicle body acceleration G ' _limitangle Φ ^*.In addition, preserve and take the mapping (enum) data of the coefficient of correction k that the speed of a motor vehicle v shown in Fig. 5 is parameter, with reference to this mapping (enum) data, determine this coefficient of correction k.Also as explained above, this coefficient of correction k is following value: the restriction of the more low more preferential deflection angle of the speed of a motor vehicle, the become restriction of high more preferential braking force of the speed of a motor vehicle.

Then, determine restriction vehicle body acceleration G ' so that determined as mentioned above towards under, its size becomes maximum outward in high overturning range of possibility.That is, restriction vehicle body acceleration G ' is confirmed as extending to the size on the threshold line of high overturning range of possibility.And, the component Gx ' of fore-and-aft direction of this restriction vehicle body acceleration G ' and each of the component Gy ' of overall width direction are set as respectively for controlling before and after the target of braking force of vehicle acceleration/accel and for controlling the target lateral acceleration of the deflection angle of front and back wheel 12F, R, according to foregoing method, control the deflection angle of front and back wheel 12F, R and offer the braking force of vehicle.Therefore, the deflection angle of restriction front and back wheel 12F, R and at least one in the braking force of vehicle is provided, makes thus the vehicle body acceleration being produced by those operations outside high overturning range of possibility, thereby can prevent the overturning of vehicle.

< control program >

The processing of the above-mentioned motion for vehicle by ignition lock, be made as on-state during separate short time gap (for example several milliseconds (msec)) and by ECU 200, repeatedly carry out following program and carry out, described program comprises: Fig. 6 illustrates the aimed acceleration of diagram of circuit and determines handler; And for each program controlled to foregoing brake equipment 22, steering hardware 34, actuating device 42, bumper 62.In addition,, only the overturning with above-mentioned is prevented to control the control of relevant brake equipment 22 and the control of steering hardware 34 describes here.The brake-power control program that the control of this brake equipment 22 illustrates diagram of circuit by execution graph 7 is carried out, and the control program that turns to that the control of steering hardware 34 illustrates diagram of circuit by execution graph 8 carries out.Below with reference to diagram of circuit as shown in the figure, the flow process of those controls is carried out to simple explanation.

At target vehicle body acceleration, determine in handler, first, in step 1 (be designated hereinafter simply as " S1 ", other steps are also same), obtain steering operation angle S _a, speed of a motor vehicle v, brake operating amount a _b.Then, in S2, S3, based on steering operation angle S _a, speed of a motor vehicle v calculates target lateral acceleration Gy ^*, based on brake operating amount S _bobtain target front and back acceleration/accel Gx ^*.Then, in S4 to those target lateral acceleration Gy ^*with acceleration/accel Gx before and after target ^*synthesize, obtain target vehicle body acceleration G ^*, in S5, this target vehicle body acceleration G ^*determine whether and enter into the high overturning range of possibility shown in Fig. 4.At target vehicle body acceleration G ^*be in the situation outside high overturning range of possibility, jump to S6 and step afterwards thereof.

In addition, at target vehicle body acceleration G ^*enter in the situation of high overturning range of possibility, in S6～S8, target vehicle body acceleration G ^*by determining restriction vehicle body acceleration G ' in high overturning range of possibility outside as the method illustrating above.Then, in S9, acceleration/accel Gx before and after target ^*with target lateral acceleration Gy ^*each replace value definite in S3, S4, and be modified to respectively front and back component of acceleration Gx ' and the transverse acceleration component of restriction vehicle body acceleration G '.After above a series of processing, target end vehicle body acceleration is determined the once execution of handler.

In brake-power control program, acceleration/accel Gx before and after the target based on definite in target vehicle body acceleration is determined handler ^*determine the target braking force F that imposes on vehicle _b.In addition, in turning to control program, the target lateral acceleration Gy based on definite in target vehicle body acceleration is determined handler ^*determine the target steering angle θ of front and back wheel 12F, R with the lateral acceleration G yr by lateral acceleration sensor 228 detected reality _f ^*, θ _r ^*.That is,, in the situation that common control can cause the possibility of vehicle generation overturning to uprise, by the vehicle body acceleration G ' being limited in outside high overturning range of possibility is made as to target vehicle body acceleration, limit the target braking force F in brake-power control _bwith the target steering angle θ turning in control _f ^*, θ _r ^*.

The function composing > of <ECU

As for carry out above-mentioned control control vehicle motion control setup and the ECU 200 that plays a role can consider to have the various function parts of carrying out aforesaid various processing.In detail, as shown in Figure 9, ECU 200 comprises: as carry out above-mentioned turn to the function part turning to that control program controls front and back wheel 12F, R turn to control part 300, as carrying out above-mentioned brake-power control program, control to each of four wheels 12 the brake-power control portion 302 of the function part of braking force is provided, as the shock absorber power control part 304 and the control left and right wheels 12M that control the function part of the shock absorber power that the bumper 62 corresponding with four wheels 12 produce _l, M _reach the propulsive effort control part 306 of propulsive effort.In addition, ECU 200 has the target vehicle body acceleration as the vehicle body acceleration that should produce in vehicle body 14 is carried out to definite target vehicle body acceleration determination portion 310.This aimed acceleration determination portion 310 has the overturning possibility detection unit 312 that can judge vehicle generation overturning, in the situation that the possibility that is judged to be vehicle generation overturning by this overturning possibility detection unit 312 is high, target vehicle body acceleration limit is determined high overturning range of possibility is external.And, the above-mentioned component that turns to the overall width direction of control part 300 based on this confined target vehicle body acceleration is controlled turning to of front and back wheel 12F, R, and the component of the fore-and-aft direction of brake-power control portion 302 based on confined target vehicle body acceleration is controlled braking force.; comprise in definite aimed acceleration determination portion 310, carry out above-mentioned target vehicle body acceleration determine handler S6～S9 part and based on what be limited in that target vehicle body acceleration outside this high overturning range of possibility controls, turn to control part 300 and brake-power control portion 302, thereby form overturning, prevent from controlling enforcement division 320.

< variation >

Below the variation of above-mentioned the first embodiment is elaborated.Even in this variation, also same with above-mentioned the first embodiment, the deflection angle by restriction front and back wheel 12F, R and offer at least one in the braking force of vehicle and prevent the overturning of vehicle.In the above-described embodiments, be made as and based on speed of a motor vehicle v, determine the restriction of the deflection angle that makes front and back wheel 12F, R and offer which in the restriction of braking force of vehicle preferential, in this variation, the speed based on steering operation and the speed of brake operating are determined.If be for example conceived to steering operation speed, preferably: this steering operation is to make bearing circle 30 to turning to the operation that increases direction, this speed is faster, more preferential turning to of the front and back wheel 12F based on this steering operation, R, and restriction offers the braking force of vehicle.On the contrary, if be conceived to brake operating speed, preferably this brake operating is the operation that treads in brake pedal 20, and this speed is faster, more should make the braking of the vehicle based on this brake operating preferential, and the deflection angle of restriction front and back wheel 12F, R.For determining, the restriction of deflection angle and which preferential concrete method that limits of braking force are elaborated below.

First, same with above-mentioned the first embodiment, the change of obtaining the aimed acceleration shown in Fig. 4 allows angle Φ.Then, based on steering operation speed d|S _a|/dt (be sometimes expressed as below | S _a| ') and brake operating speed dS _b/ dt (is expressed as S below sometimes _b') determine determine restriction vehicle body acceleration G ' towards time coefficient of correction k.When definite this coefficient of correction k, obtain operating speed and compare r _s, described operating speed compares r _sbrake operating speed S _b' and steering operation speed | S _a| " ratio, say the speed S that treads in brake pedal 20 in more detail _b' and make bearing circle 30 turn to the speed of increase | S _a| ' ratio.This operating speed compares r _scan shown in Figure 10 by steering operation speed | S _a| ' and brake operating speed S _b' be made as on the coordinate plane of coordinate axle and be expressed as an A.In addition, with the straight line of Figure 10, represent to compare r as the base reference of reference operating speed of operating speed ratio ₀.Then, this benchmark operating speed of expression is compared to r ₀straight line and the angle that forms of the line segment of point of contact A and initial point O (from representing that benchmark operating speed compares r ₀straight line to the angle of anticlockwise) be made as α.As shown in figure 11, coefficient of correction k determines according to this α, and it calculates according to the following formula.

k＝(1-sinα)/2

＝〔1-sin{tan ^-1(S _B’/|S _A|’)-45°}〕/2

Therefore,, from Figure 10 and Figure 11, operating speed compares r _sbecome larger, the restriction of more preferential deflection angle, operating speed compares r _sbecome less, the restriction of more preferential braking force.

In the vehicle motion control system of this variation, due to preferred pin in steering operation and brake operating, chaufeur thinks the control of the operation paid attention to, the human discomfort that therefore makes to give chaufeur is little, and can prevent the overturning of vehicle.

Embodiment 2

The vehicle motion control system of the first embodiment is constituted as: the steering volume by restriction wheel flutter and offer that in the braking force of vehicle, at least one prevents the overturning of vehicle.With respect to this, the vehicle motion control system of the second embodiment is constituted as: by making vehicle body 14 tilt the center-of-gravity position of vehicle body 14 when overlooking is subjected to displacement, thereby prevent the overturning of vehicle.In addition, carried the second embodiment vehicle motion control system vehicle due to the overturning except carrying out by ECU 200 prevent from controlling with the system of the first embodiment be same substantially, therefore they have been used to same numeral, and to omitting or having simplified their description.

It is that the following body inclination of body inclination that makes is controlled in detail that overturning in the system of the present embodiment prevents from controlling: in the situation that high to the possibility of right front overturning, make the center-of-gravity position of vehicle body 14 away from linking front-wheel 12F and the right 12M of wheel _rstraight line, in the situation that high to the possibility of left front overturning, make the center-of-gravity position of vehicle body 14 away from linking front-wheel 12F and revolver 12M _lstraight line.In addition, the bumper 62 by each the corresponding setting with four wheels 12 change as with this each corresponding wheel 12 and the wheel vehicle body spacing of the distance between vehicle body 14, make thus vehicle body 14 tilt.(a) of Figure 12 and (b) be illustrated in vehicle to right front, there is situation that the possibility of overturning uprises under, by vehicle body, topple over and control the skeleton diagram that makes the center-of-gravity position of vehicle body 14 be subjected to displacement to make the state that vehicle body 14 topples over towards the left back of vehicle, (a) of Figure 12 is its lateral plan, and (b) of Figure 12 is the figure illustrating watching from rear view of vehicle.Below vehicle body is toppled over to control and be specifically described.

First, same with the system of the first embodiment, based on steering operation angle S _a, speed of a motor vehicle v calculates target lateral acceleration Gy ^*, based on brake operating amount S _bobtain target front and back acceleration/accel Gx ^*, the target vehicle body acceleration G after by judgement, they being synthesized ^*whether enter high overturning range of possibility, can determine whether the possibility that has vehicle generation overturning.And, as shown in Figure 13 (a), at target vehicle body acceleration G ^*enter into and in the situation of high overturning range of possibility, carry out overturning and prevent from controlling.This overturning prevents from controlling in order to make target vehicle body acceleration G ^*in take the center-of-gravity position of vehicle outside the high overturning range of possibility that benchmark is set, and as shown in Figure 13 (b), make the center-of-gravity position of vehicle body 14 at this target vehicle body acceleration G ^*towards with on the contrary towards on be subjected to displacement.And, based on surpassing target vehicle body acceleration G ^*the size of amount of threshold line of high overturning range of possibility determine the amount that center-of-gravity position is subjected to displacement.In detail, first, as shown in Figure 13 (a), obtain at target vehicle body acceleration G ^*fore-and-aft direction surpassed the big or small Δ Gx of threshold line and at target vehicle body acceleration G ^*overall width direction surpassed the big or small Δ Gy of threshold line, and based on each of those Δs Gx and Δ Gy, come to calculate according to the following formula respectively to the displacement of targets amount Δ x of the fore-and-aft direction of center-of-gravity position with to the displacement of targets amount Δ y of overall width direction respectively.

Δx＝-ΔGx·H/Kx

Δy＝-ΔGy·H/Ky

And, for the center-of-gravity position that makes vehicle body 14 forwards, backwards direction be subjected to displacement, control each the corresponding bumper 62 with front and back wheel 12F, R, for center-of-gravity position is subjected to displacement to overall width direction, control and left and right wheels 12M _l, M _reach corresponding bumper 62.

For example, as shown in Figure 12 (a), for center-of-gravity position is rearward subjected to displacement, control front and back wheel 12F, the bumper 62 that R is corresponding, make the distance of front-wheel 12F and vehicle body 14 become larger than the distance of trailing wheel 12R and vehicle body 14.The poor Δ z of the wheel vehicle body spacing of the wheel vehicle body spacing of these front-wheel 12 sides and rear wheel-side _f-Rcan use the tiltangleθ of the fore-and-aft direction of wheelspan L and vehicle body 14 _pas shown in the formula such, represent.

Δz _F-R＝L·sinθ _P

Here, sin θ _pwith the high H of center of gravity and forwards, backwards the displacement of targets amount Δ x of direction with following formula, represent.

sinθ _P＝Δx/H

If imported above-mentioned formula, can obtain following formula.

Δz _F-R＝L·Δx/H

Therefore, vehicle body between-wheel spacing from change amount Δ z _f-Rthat displacement of targets amount Δ x based on obtaining as previously described determines.And ECU 200 controls, so that producing, front wheel side bumper 62F make wheel vehicle body spacing only increase Δ z _f-R/ 2 shock absorber power, produces rear wheel-side bumper 62R and makes wheel vehicle body spacing only reduce Δ z _f-R/ 2 shock absorber power.Specifically, based on changing distance, delta z between this wheel vehicle body _f-R/ 2, the distance of the shock absorber component of force producing as the bumper 62F, the R that make front and back wheel side changes component F _aZxcome according to the following formula to determine.

F _aZx=K ₅Δ z _f-R/ 2 (K ₅: gain)

And, the target shock absorber power F of the bumper 62 corresponding with front and back wheel 12F, R _a-F ^*, F _a-R ^*based on this apart from changing component F _aZx, foregoing vibration damping component F _aV, and pitching suppress component F _aPdetermine according to the following formula.

F _A-F ^*＝F _AV+F _AP+F _AZx

F _A-R ^*＝F _AV-F _AP-F _AZx

In addition, for example, shown in Figure 12 (b), in order to make center-of-gravity position carry out displacement to left, control and left and right wheels 12M _l, M _rcorresponding bumper 62, makes the right 12M of wheel _rand the distance between vehicle body 14 becomes than revolver 12M _llarge with the distance of vehicle body 14.The wheel vehicle body spacing of this revolver side and the right poor Δ z that takes turns the wheel vehicle body spacing of side _lRcan use the tiltangleθ of the overall width direction of wheelspan Tr and vehicle body 14 _ras shown in the formula representing like that.

Δz _LR＝Tr·sinθ _R

Here, sin θ _rwith the high H of center of gravity with to the displacement of targets amount Δ y of overall width direction, with following formula, represent.

sinθ _R＝Δy/H

If be taken to above-mentioned formula, can access following formula.

Δz _LR＝Tr·Δy/H

Therefore, vehicle body between-wheel spacing from change amount Δ z _lRdisplacement of targets amount Δ y based on obtaining as previously mentioned and definite.And ECU 200 controls, so that right, take turns side bumper 62M _rgeneration makes wheel vehicle body spacing only increase Δ z _lR/ 2 shock absorber power, and make revolver side bumper 62M _lgeneration makes wheel vehicle body spacing only reduce Δ z _lR/ 2 shock absorber power.Specifically, based on changing distance, delta z between this wheel vehicle body _lR/ 2, determine according to the following formula as the bumper 62M that makes left and right wheels side _l, M _rthe distance of the shock absorber component of force producing changes component F _aZy.

F _aZy=K ₆Δ z _lR/ 2 (K ₆: gain)

And, with left and right wheels 12M _l, M _rthe target shock absorber power F of corresponding bumper 62 _a=ML ^*, F _a-MR ^*based on this apart from changing component F _aZywith foregoing vibration damping component F _aysuppress component F with rolling _aRdetermined according to the following formula.

F _A-ML ^*＝F _AV+F _AR+F _AZy

F _A-MR ^*＝F _AV-F _AR-F _AZy

And, by inverter, undertaken for generation of the target shock absorber power F being determined as mentioned above ^*the job control of electromagnetic motor 64.In detail, about each the target shock absorber power F based on four bumpers 62 _a-F ^*, F _a-R ^*, F _a-ML ^*, F _a-MR ^*and the instruction of definite dutycycle is sent to inverter, the driving that completes the motor 64 based on this instruction by inverter is controlled.

For controlling the processing of motion of above-mentioned vehicle, by ECU 200, during ignition lock is set as on-state, separate short time gap (for example several milliseconds) and repeat the shock absorber power control program that diagram of circuit is shown at Figure 14.Below with reference to diagram of circuit shown in the drawings, the flow process of these controls is carried out to simple explanation.

In the processing based on shock absorber power control program, first, in method as previously described, in S41～S43, determine vibration damping component F _aV, roll to suppress component F _aR, pitching suppresses component F _aP.Then,, in S44～46, by the same method of the system with the first embodiment, obtain target vehicle body acceleration G ^*, then, in S47, judge this vehicle body acceleration G ^*whether enter into high overturning range of possibility.At target vehicle body acceleration G ^*in situation outside high overturning range of possibility, in S48 based on vibration suppression component F _v, roll to suppress component F _r, pitching suppresses component F _pcome to determine the target shock absorber power F of four bumpers 62 corresponding with four wheels 12 _a ^*.In addition, at target vehicle body acceleration G ^*enter in the situation of high overturning range of possibility, in above-mentioned method, in S49～51, in order to prevent the overturning of vehicle, so that carrying out the mode of displacement, the center-of-gravity position of vehicle body 14 determines that conduct is for making the distance of the shock absorber component of force of vehicle body 14 inclinations change component F _aZx, F _aZy.And, in S52, except vibration suppression component F _v, roll to suppress component F _r, pitching suppresses component F _poutside also use this apart from changing component F _aZx, F _aZydetermine target shock absorber power F _a ^*.After above a series of processing, finish the execution once of shock absorber power control program.

In addition, the vehicle body of carrying out in the system of the present embodiment is toppled over to control and is constituted as the amount of exercise restriction that replaces carrying out controls and carry out in the system of the first embodiment, but the restriction of the amount of exercise in this first embodiment is controlled, also can be configured to the vehicle body of carrying out in the present embodiment and topple over control.

Embodiment 3

The vehicle motion control system of the 3rd embodiment is constituted as the overturning of being inclined to prevent vehicle by strengthening the understeer of vehicle.In addition, carry the vehicle of vehicle motion control system of the 3rd embodiment because the overturning except being carried out by ECU 200 is substantially same with the system of the first embodiment preventing from controlling, they are also used to identical symbol, and omit or simplified their description.

In the system of the present embodiment, as overturning, prevent that the cornering properties of controlling from changing that to control be optionally to carry out for strengthening the more than of four controls of the understeer tendency of vehicle according to the motoring condition of vehicle etc.Successively these four controls are described.First control as shown in Figure 15 (a), as making to offer left and right wheels 12M _l, M _rin the poor generation of braking force that offers the control that the braking force of wheel in the turning in those is large of the braking-force ratio of turning foreign steamer control.The poor generation of this braking force is controlled by changing and distribute to equably left and right wheels 12M in the control conventionally time _l, M _reach the distribution of braking force, produce braking force poor.Specifically, with from be judged to be the time point that the possibility of vehicle generation overturning is high time through together with, the braking force that offers turning foreign steamer slowly becomes greatly, offers the braking force of wheel in turning simultaneously and slowly diminishes.Second control as shown in Figure 15 (b), as the homophase of the control that trailing wheel 12R and front-wheel 12F are in phase turned to, turn to control.At this homophase, turn in control, in the situation that it is high to be judged to be the possibility of vehicle generation overturning, the target steering angle θ of trailing wheel 12R _r ^*be set as the target steering angle θ with front-wheel 12F _f ^*identical value.

The camber angle of the control of the 3rd control camber angle as shown in Figure 15 (c), four wheels 12 of conduct change changes to be controlled.In this camber angle, change in control, control and front-wheel 12F, left and right wheels 12M _l, M _rcorresponding electromagnetic motor 74, so that the upper side of wheel tilts to the outside of turning, the mode of fixed angle changes those front-wheels 12F, left and right wheels 12M _l, M _rcamber angle, and the control electromagnetic motor 74 corresponding with trailing wheel 12R, so that the upper side of wheel changes the camber angle of trailing wheel 12F to the tilt mode of fixed angle of turning medial.In addition, the 4th control as shown in Figure 15 (d), as changing left and right wheels 12M _l, M _rthe bundle angle of control at bundle angle change to control.Control and left and right wheels 12M _l, M _rcorresponding electromagnetic motor 80, so that left and right wheels 12M _l, M _rangulation changes bundle angle to be only set of each the approximating mode of rear side.That is, left and right wheels 12M _l, M _rit is the wheel that is set as posterior cord.

In the situation that it is high to be judged to be the possibility of vehicle generation overturning, first, carry out the poor generation control of braking force in above-mentioned and homophase turn to control some.In detail, first, be judged to be the high time point of possibility of vehicle generation overturning, also determining whether that existence also makes to offer left and right wheels 12M _l, M _rthe enough and to spare that increases of braking force.Specifically, can offer left and right wheels 12M _l, M _rmaximum braking force and at current point in time, offer left and right wheels 12M _l, M _rthe difference of braking force than in the little situation of setting value, owing to cannot making the braking force that offers turning foreign steamer increase, therefore carrying out homophase turns to control, in the situation that the enough and to spare that the difference of this braking force is larger than setting value and existence increases braking force is carried out the poor generation of braking force and controlled.

In addition, think and turning in the some states of control in the above-mentioned poor generation control of braking force of execution and homophase, in the situation that complete the direction of steering operation from being judged to be the time point that the possibility of vehicle generation overturning is high to similar direction complete operation by chaufeur, in the situation that carrying out so-called counter steering, chaufeur is tackled in order to avoid vehicle generation overturning.In this case, for the operation of auxiliary this chaufeur, and carry out camber angle, change and control and bundle angle changes some in controlling.Specifically, at the time point that carries out counter steering, whether the variation of the yaw-rate of judgement vehicle body 14 is larger than setting value.In the situation that the variation of yaw-rate is large, because hope is promptly tackled as far as possible, so compare with the situation that changes camber angle, carry out the bundle angle change control that change angle completes littlely, in the situation that the variation of yaw-rate is little, carries out camber angle and change control.

In addition, in the system of two above-mentioned embodiment, in order to judge whether the possibility of vehicle generation overturning uprises, and use the vehicle body acceleration estimating according to steering operation and brake operating, but in the system of the present embodiment, vehicle body acceleration after synthesizing to the front and back acceleration/accel by front and back acceleration pick-up 226 detected reality with by the transverse acceleration of lateral acceleration sensor 228 detected reality is in the situation that entering into high overturning range of possibility, and the possibility that is judged as vehicle generation overturning uprises.

For switching common control and preventing that as above-mentioned overturning the processing of four controls of control from for example, repeating by separated short time gap Δ t (several milliseconds) during ignition lock is set as on-state by ECU 200 the execution control changeover program that diagram of circuit is shown at Figure 16.In addition, during identical with execution control changeover program, the brake-power control program that at Figure 17, diagram of circuit is shown by execution is carried out the control of foregoing brake equipment 22, and the control program that turns to that the control of steering hardware 34 illustrates diagram of circuit by execution at Figure 18 carries out.The diagram of circuit of those controls is described simply below with reference to diagram of circuit shown in the drawings.

I) carry out and control changeover program

In the processing of the program based on carrying out in this vehicle motion control system, employing illustrates and carries out common control, overturning prevents the poor generation control of braking force in control, the execution control sign F that homophase turns to the some control in control _l.Carry out and control changeover program by determining this sign F _lvalue of statistical indicant, in turning to each that control, brake-power control, attenuation power controls, switch common control, overturning prevents that the poor generation control of braking force, the homophase controlled from turning to control.This indicates F _lvalue of statistical indicant when carrying out common controls, be set as 0, be set as 1 carrying out when the poor generation of braking force is controlled, be set as 2 carrying out when homophase turns to control.

Based on carrying out in the processing of controlling changeover program, first, in S61,62, obtain front and back acceleration/accel Gx, lateral acceleration G y, after being synthesized, they obtain vehicle body acceleration G.In S63, based on this vehicle body acceleration G, judge that whether the possibility of vehicle generation overturning is high.In common motoring condition, in S64, carry out and control sign F _lvalue of statistical indicant be set as 0, in S65, the camber angle of four wheels 12 and left and right wheels 12M _l, M _rbundle angle be set as initial value.And in S63, in the situation that vehicle body acceleration G enters high overturning range of possibility, the possibility that is judged to be vehicle generation overturning is high, by carrying out S66 and step afterwards, from common control, is switched to overturning and prevents from controlling.

When the possibility that is judged to be vehicle generation overturning is high, first, in S66, judge whether there is enough and to spare at the braking force that offers left and right wheels, in the situation that there is enough and to spare, in S67, carry out and control sign F _lvalue of statistical indicant be set as 1, in the situation that there is no enough and to spare, value of statistical indicant is set as 2.Then, in S69, by chaufeur, determined whether counter steering, the in the situation that of this operation not, after being jumped to S70.On the other hand, in the situation that having completed counter steering by chaufeur, in S70, judge that whether the variation of yaw-rate ω is larger than setting value γ 0.In the situation that the variation of yaw-rate ω is less than setting value γ 0, carries out foregoing camber angle and change control.In the situation that the variation of yaw-rate ω is larger than setting value γ 0, carries out foregoing bundle angle and change control on the contrary.After above a series of processing, finish to carry out the execution once of controlling changeover program.

Based on illustrating at Figure 17 in the processing of brake-power control program of diagram of circuit, also as previously described, based on carrying out, control sign F _lvalue of statistical indicant switching controls.Conventionally in S84, assignment system power, makes braking force and the right 12M of wheel of revolver 12ML _rbraking force identical.With respect to this, carrying out control sign F _lvalue of statistical indicant be, in 1 situation, in S85, to change brakig force distribution and recently distribute, the braking-force ratio of the foreign steamer that makes to turn turn in the braking force of wheel large.

Based on illustrating at Figure 18 in the processing that turns to control program of diagram of circuit, also as previously described, the execution based on above-mentioned is controlled execution definite in changeover program and is controlled sign F _lvalue of statistical indicant carry out switching controls.Conventionally in from S91 to S94, by method as previously described, based on transverse acceleration deviation delta Gy, determine the target steering angle θ of front and back wheel 12F, R _f ^*, θ _r ^*.In addition, carrying out control sign F _lvalue of statistical indicant be in 2 situation, in S96, the target steering angle θ of trailing wheel 12R _r ^*be set as the target steering angle θ with front-wheel 12F _f ^*identical value, thus be diverted into front-wheel homophase.

In addition, the cornering properties change of carrying out in the system of the present embodiment is controlled to be constituted as and is replaced existing, the amount of exercise restriction of carrying out in the system of the first embodiment is controlled and is performed, but the vehicle body in the restriction of the amount of exercise in this first embodiment control and the second embodiment is toppled at least one in control, can be constituted as the cornering properties of carrying out in the present embodiment and change control.

The explanation of symbol

12F: front-wheel (wheel flutter) 12M _l: revolver (drive wheel) 12M _r: right wheel (drive wheel) 12R: trailing wheel (wheel flutter) 14: vehicle body 16F, M _l, M _r, R: draft hitch 20: brake pedal 22F, M _l, M _r, R: brake equipment 30: bearing circle 34F, R: steering hardware 40: acceleration pedal 42M _l, M _r: actuating device 60: coil spring (axle spring) 62F, M _l, M _r, R: electromagnetic bumper 64: electromagnetic motor 74: electromagnetic motor 80: electromagnetic motor (steering hardware) 92: electromagnetic motor (brake equipment) 100: electromagnetic motor (actuating device) 200: electronic control unit (ECU) 220: car speed sensor [v] 222: operation angle sensor [S _a] 224: yaw rate sensor [ω] 226: front and back acceleration pick-up [Gx] 228: lateral acceleration sensor [Gy] 230: longitudinal acceleration sensor on spring [Gz] 232: acceleration stroke sensor [S _d] 234: braking distance sensor [S _b] 300: turn to control part 302: brake-power control portion 304: shock absorber power control part 306: propulsive effort control part 310: aimed acceleration determination portion 312: overturning possibility detection unit 320: overturning prevents from controlling enforcement division

S _b: brake operating amount Gx ^*: acceleration/accel F before and after target _b: (offering vehicle) target braking force F _b-F, F _b-ML, F _b-MR, F _b-R: (according to each wheel) target braking force S _a: operation angle v: speed of a motor vehicle Gy ^*: target lateral acceleration Gyr: actual transverse acceleration Δ Gy: transverse acceleration deviation θ _f ^*, θ _r ^*: target steering angle F _aV: vibration damping component V _s: absolute velocitye C on spring _s: extinguishing coefficient F _aR: roll and suppress component F _aP: pitching suppresses component F _a-F, F _a-ML, F _a-MR, F _a-R: target shock absorber power G ^*: target vehicle body acceleration G ': restriction vehicle body acceleration Φ: change and allow angle k: coefficient of correction | S _a| ': steering operation speed S _b': brake operating speed r _s: operating speed is than Δ x: the displacement of targets amount Δ y of direction forwards, backwards: to the displacement of targets amount F of overall width direction _aZx: the distance of fore-and-aft direction changes component F _aZy: the distance of overall width direction changes component ω: yaw-rate

Claims

1. a vehicle motion control system, described vehicle motion control system is mounted on vehicle and controls the motion of this vehicle, described vehicle has a plurality of wheels, described a plurality of wheel comprises the single front-wheel of the front side that is configured in vehicle self and revolver and right wheel that is configured in respectively the left and right of vehicle self at the rear side of this front-wheel, described vehicle motion control system is characterised in that, comprising:

Overturning possibility detection unit, described overturning possibility detection unit judges whether the vehicle body acceleration producing on vehicle body enters into the high high overturning range of possibility of possibility that is confirmed as vehicle generation overturning; And

Overturning prevents from controlling enforcement division, in the situation that being judged to be described vehicle body acceleration by this overturning possibility detection unit and entering into described high overturning range of possibility, described overturning prevents from controlling enforcement division execution and in order to reduce the possibility of vehicle generation overturning, makes the control of vehicle movement

Described overturning possibility detection unit is constituted as: by the acceleration/accel of the acceleration/accel of the fore-and-aft direction producing on vehicle body and overall width direction is synthesized, obtain described vehicle body acceleration towards and size, and

Described high overturning range of possibility be set to have according to described vehicle body acceleration towards the threshold value varying in size, described overturning possibility detection unit judges whether described vehicle body acceleration enters into this high overturning range of possibility.

2. vehicle motion control system as claimed in claim 1, wherein,

It is to make vehicle movement so that the control of described vehicle body acceleration outside described high overturning range of possibility that described overturning prevents from controlling.

3. vehicle motion control system as claimed in claim 1 or 2, wherein,

Described overturning possibility detection unit estimates based on steering operation and brake operating the described vehicle body acceleration producing on vehicle body, and judges whether this estimative vehicle body acceleration enters into described high overturning range of possibility.

4. vehicle motion control system as claimed in claim 1 or 2, wherein,

5. vehicle motion control system as claimed in claim 4, wherein,

The restriction of described amount of exercise controls that the two limits to described steering volume and described braking force, and

6. vehicle motion control system as claimed in claim 4, wherein,

The speed that described amount of exercise restriction is controlled at brake operating is with respect in the large situation of the ratio of the speed of steering operation, compare than little situation with this, dwindle the restriction of described braking force and increase described in turn to quantitative limitation, in the situation that the speed of brake operating is little with respect to the ratio of the speed of steering operation, compare than large situation with this, increase the restriction of described braking force and reduce described in turn to quantitative limitation.

7. vehicle motion control system as claimed in claim 4, wherein,

This vehicle motion control system is carried out to turn to and is controlled and brake-power control, described turning to controlled the acceleration/accel of described steering volume being controlled to realize the overall width direction corresponding with steering operation, described brake-power control controls to realize the acceleration/accel of the fore-and-aft direction corresponding with brake operating to described braking force

Described amount of exercise restriction is controlled definite aimed acceleration as the described vehicle body acceleration that should produce on vehicle body so that it does not enter into described high overturning range of possibility, the component of the aimed acceleration of being determined based on this in overall width direction controlled described steering volume, and the component on fore-and-aft direction is controlled described braking force based on this aimed acceleration, thus the steering volume of described wheel flutter and each of braking force that offers vehicle are limited, so that described vehicle body acceleration is outside described high overturning range of possibility.

8. vehicle motion control system as claimed in claim 7, is characterized in that,

To be confirmed as described aimed acceleration outside described high overturning range of possibility and be defined as and turn to restriction acceleration/accel by only limiting described steering volume, and

To be confirmed as in situation that described aimed acceleration outside described high overturning range of possibility is defined as braking force restriction acceleration/accel by only limiting described braking force,

9. vehicle motion control system as claimed in claim 1 or 2, wherein,

10. vehicle motion control system as claimed in claim 9, wherein,

Described vehicle body topples over to control: make body inclination so that towards the opposite towards the control of carrying out displacement to described vehicle body acceleration of the center-of-gravity position of the vehicle body while overlooking.

11. vehicle motion control systems as claimed in claim 1 or 2, wherein,

Described overturning prevents from controlling and comprises that the cornering properties of the understeer tendency that strengthens vehicle changes control.

12. vehicle motion control systems as claimed in claim 11, wherein,

Described cornering properties changes to control and comprises: make to offer becoming in revolver and right wheel described in the braking-force ratio of the wheel that becomes turning foreign steamer in described revolver and right wheel turn in the large control of braking force of wheel of wheel.

13. vehicle motion control systems as claimed in claim 11, wherein,

Described cornering properties changes controls the control that comprises the camber angle that changes at least one wheel in described a plurality of wheels.

14. vehicle motion control systems as claimed in claim 11, wherein,

15. vehicle motion control systems as claimed in claim 11, wherein,

The vehicle that carries this vehicle motion control system also has with described revolver compares with right wheel the single trailing wheel that is configured in rear view of vehicle side and is set as wheel flutter,

Described cornering properties change control comprise make described trailing wheel to identical with described front-wheel towards the control turning to.